| 在未知复杂海底地形环境中的自主水下机器人避碰方法 | |
| Alternative Title | Automatic underwater robot in unknown complex submarine topography environment collision prevention method |
徐春晖 ; 李波; 邵刚; 赵宏宇; 刘健; 徐会希
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| Department | 水下机器人研究室 |
| Rights Holder | 中国科学院沈阳自动化研究所 |
| Patent Agent | 沈阳科苑专利商标代理有限公司 21002 |
| Country | 中国 |
| Subtype | 发明授权 |
| Status | 有权 |
| Abstract | 本发明涉及在未知复杂海底地形环境中的自主水下机器人避碰方法，包括以下步骤：水下机器人对采集的声纳图像数据进行处理，得到障碍目标；根据障碍目标在声纳图像中所处的区域位置，实时确定AUV避碰行为。本发明环境感知虚警率低。获取前视声呐图像，采用图像处理方式感知障碍，提高了障碍识别的准确性。能够满足AUV在复杂海底地形环境中安全无碰的执行任务。保证AUV不发生近底碰撞，也不会出现底部丢失的问题。提高探测效率。保证AUV探测作业的航迹要求，重复覆盖或留白的情况少。 |
| Other Abstract | The method involves processing collected sonar image data. An obstacle target underwater robot area position of a sonar image is determined according to an obstacle target. An AUV collision avoidance behavior is determined at a real-time. The sonar image data is obtained to obtain an initial target according to clustering algorithm. The obstacle target underwater robot area position of a sonar image is expanded. An updated target function is realized. A collision avoidance action process is performed when height of an underwater robot is less than a threshold value. |
| PCT Attributes | 否 |
| Application Date | 2016-10-25 |
| 2018-04-03 | |
| Date Available | 2018-12-25 |
| Application Number | CN201610936341.9 |
| Open (Notice) Number | CN107870621B |
| Language | 中文 |
| Contribution Rank | 1 |
| Document Type | 专利 |
| Identifier | http://ir.sia.cn/handle/173321/23905 |
| Collection | 水下机器人研究室 |
| Affiliation | 中国科学院沈阳自动化研究所 |
| Recommended Citation GB/T 7714 | 徐春晖,李波,邵刚,等. 在未知复杂海底地形环境中的自主水下机器人避碰方法[P]. 2018-04-03. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| CN201610936341.9授权.p（434KB） | 专利 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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